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/* Authors: Robert Haschke
   Desc:    Planner Interface: implementation details shared across different planners
*/

#include <moveit/task_constructor/solvers/planner_interface.h>
#include <moveit/trajectory_processing/time_optimal_trajectory_generation.h>

using namespace trajectory_processing;

namespace moveit {
namespace task_constructor {
namespace solvers {

PlannerInterface::PlannerInterface() {
	auto& p = properties();
	p.declare<double>("timeout", std::numeric_limits<double>::infinity(), "timeout for planner (s)");
	p.declare<double>("max_velocity_scaling_factor", 1.0, "scale down max velocity by this factor");
	p.declare<double>("max_acceleration_scaling_factor", 1.0, "scale down max acceleration by this factor");
	p.declare<TimeParameterizationPtr>("time_parameterization", std::make_shared<TimeOptimalTrajectoryGeneration>());
}
}  // namespace solvers
}  // namespace task_constructor
}  // namespace moveit
